Application of Model Reference Adaptive Control to Industrial Robot Impedance Control
Journal of Intelligent and Robotic Systems
Computer Methods and Programs in Biomedicine
The effect of modeling cartilage on predicted ligament and contact forces at the knee
Computers in Biology and Medicine
IEEE Transactions on Information Technology in Biomedicine
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
IEEE Transactions on Fuzzy Systems
IEEE Transactions on Neural Networks
Hi-index | 0.00 |
Continuous passive motion (CPM) and controllable active motion (CAM) physiotherapy devices promote rehabilitation of damaged joints. This paper presents a computerized CPM/CAM system that obviates the need for mechanical resistance devices such as springs. The system is controlled by a computer which performs sliding-mode Fuzzy Neural Network (FNN) calculations online. CAM-type resistance force is generated by the active performance of an electric motor which is controlled so as to oppose the motion of the patient's leg. A force sensor under the patient's foot on the device pedal provides data for feedback in a sliding-mode FNN control loop built around the motor. Via an active impedance control feedback system, the controller drives the motor to behave similarly to a damped spring by generating and controlling the amplitude and direction of the pedal force in relation to the patient's leg. Experiments demonstrate the high sensitivity and speed of the device. The PC-based feedback nature of the control loop means that sophisticated auto-adaptable CPM/CAM custom-designed physiotherapy becomes possible. The computer base also allows extensive data recording, data analysis and network-connected remote patient monitoring.